File size: 7,347 Bytes
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"description": "The task involves wedges or pyramids suspended at a fixed height. Then, these wedges and pyramids are released and fall under its own gravity on the square base or tribase.",
"prompt": "Static frontal camera view: A robotic gripper holds a black plastic pyramid (mass ≈ 98 g, apex oriented downward with a slight tilt) suspended approximately 13 cm above a stationary light wooden square base (mass ≈ 115 g) featuring a square recess; the entire assembly sits atop a black perforated optical table. Coefficient of friction for plastic–wood contact ≈ 0.28; coefficient of restitution ≈ 0.36. The gripper actuates open to release the pyramid, which then undergoes unconstrained free fall driven by gravity. The pyramid follows this sequence of motion: it descends vertically, strikes near the square base on initial contact, may tip or bounce due to inherent instability from its apex-down orientation, and finally settles into a stable resting configuration. The square base and optical table remain fully stationary for the entire duration of the motion.",
"assets": {
"wedge": {
"model": "../../assets/obj/wedge.obj",
"material": {
"wood": {
"mass": 0.0634,
"density": 507.2,
"friction": 0.273673,
"restitution": {
"task-5": 0.307752
}
},
"plastic": {
"mass": 0.1463,
"density": 1170.4,
"friction": 0.275018,
"restitution": {
"task-5": 0.389192
}
}
}
},
"pyramid": {
"model": "../../assets/obj/pyramid.obj",
"material": {
"wood": {
"mass": 0.0433,
"density": 519.6,
"friction": 0.273673,
"restitution": {
"task-3": 0.329297,
"task-4": 0.334596
}
},
"plastic": {
"mass": 0.0976,
"density": 1171.2,
"friction": 0.275018,
"restitution": {
"task-3": 0.364949,
"task-4": 0.319815
}
}
}
},
"squarebase": {
"model": "../../assets/obj/squarebase.obj",
"material": {
"wood": {
"mass": 0.1146,
"density": 523.8857,
"friction": 0.273673,
"restitution": {
"task-3": 0.329297
}
}
}
},
"tribase": {
"model": "../../assets/obj/tribase.obj",
"material": {
"wood": {
"mass": 0.0547,
"density": 500.1143,
"friction": 0.273673,
"restitution": {
"task-4": 0.334596,
"task-5": 0.307752
}
}
}
}
},
"tasks": {
"task-3": {
"assets": ["pyramid", "squarebase"],
"translation": {
"pyramid": {
"wood": [0.419851, 0.430966, 0.164676],
"plastic": [0.420323, 0.430436, 0.164440]
},
"squarebase": {
"wood": [0.410310, 0.429903, 0.030423],
"plastic": [0.410314, 0.429868, 0.030368]
},
"ground": {
"wood": [0, 0, 0.005423],
"plastic": [0, 0, 0.005368]
}
},
"orientation": {
"pyramid": {
"wood": [-10, 10, 0],
"plastic": [-10, 10, 0]
},
"squarebase": {
"wood": [0, 0, 0],
"plastic": [0, 0, 0]
}
},
"fixed": {
"pyramid": false,
"squarebase": true
},
"kinematic": {
"pyramid": false,
"squarebase": false
},
"record": {
"assets": ["pyramid"],
"dim": ["x", "y", "z"],
"fps": 30
}
},
"task-4": {
"assets": ["pyramid", "tribase"],
"translation": {
"pyramid": {
"wood": [0.403041, 0.374874, 0.169568],
"plastic": [0.405253, 0.375113, 0.171423]
},
"tribase": {
"wood": [0.390056, 0.374062, 0.030673],
"plastic": [0.386422, 0.373865, 0.030480]
},
"ground": {
"wood": [0, 0, 0.005673],
"plastic": [0, 0, 0.005480]
}
},
"orientation": {
"pyramid": {
"wood": [-10, 10, 0],
"plastic": [-10, 10, 0]
},
"tribase": {
"wood": [0, 0, 0],
"plastic": [0, 0, 0]
}
},
"fixed": {
"pyramid": false,
"tribase": true
},
"kinematic": {
"pyramid": false,
"tribase": false
},
"record": {
"assets": ["pyramid"],
"dim": ["x", "y", "z"],
"fps": 30
}
},
"task-5": {
"assets": ["wedge", "tribase"],
"translation": {
"wedge": {
"wood": [0.402296, 0.374206, 0.169536],
"plastic": [0.401995, 0.373761, 0.170778]
},
"tribase": {
"wood": [0.390030, 0.374022, 0.030529],
"plastic": [0.389799, 0.375095, 0.030643]
},
"ground": {
"wood": [0, 0, 0.005529],
"plastic": [0, 0, 0.005643]
}
},
"orientation": {
"wedge": {
"wood": [-5, 5, 0],
"plastic": [-5, 5, 0]
},
"tribase": {
"wood": [0, 0, 0],
"plastic": [0, 0, 0]
}
},
"fixed": {
"wedge": false,
"tribase": true
},
"kinematic": {
"wedge": false,
"tribase": false
},
"record": {
"assets": ["wedge"],
"dim": ["x", "y", "z"],
"fps": 30
}
}
}
} |